CN101806906A - Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System) - Google Patents
Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System) Download PDFInfo
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Abstract
The invention relates to a position coordinate real-time dynamic combination measuring device based on a GNSS (Global Navigation Satellite System), which comprises a global navigational satellite system receiver, a centering rod and an attitude angle sensing and measuring module, wherein the receiver is fixedly arranged on the centering rod, and the attitude angle sensing and measuring module is connected with the receiver in an intercommunication mode. The invention also relates to a method for realizing the position coordinate real-time dynamic combination measurement based on the GNSS by using the device. By using the position coordinate real-time dynamic combination measuring device and method based on the GNSS receiver, the invention omits the traditional process of adjusting the liquid bubble to maintain the verticality of the centering rod, greatly shortens the operation time, improves the operation efficiency, and reduces the conversion error from the GNSS receiver to the point to be measured, thereby raising the measurement accuracy of the measurement point, and achieving the advantages of simple and practical structure, stable and reliable operation performance and wider application range.
Description
Technical Field
The invention relates to the field of geodetic instruments, engineering measuring instruments and surveying instruments, in particular to the technical field of Satellite positioning, Navigation and surveying, and specifically relates to a position coordinate real-time dynamic combination measuring device and method based on a Global Navigation Satellite System (GNSS).
Background
In the prior art, there are many measurement systems, one of which is a GNSS (Global navigation satellite System) measurement System, and the measurement accuracy thereof ranges from millimeter level to meter level. GNSS is a broad concept, which is a general term for all satellite navigation and positioning systems, including the current GPS satellite global positioning system, GLONASS global navigation satellite system, beidou satellite navigation system, WAAS wide area augmentation system, EGNOS european geostationary satellite navigation overlay system, DORIS satellite-borne doppler radio orbit determination positioning system, prame precise distance and its variability measurement system, QZSS quasi-zenith satellite system, GAGAN GPS geostationary satellite augmentation system, and Galileo satellite navigation positioning system, Compass satellite navigation positioning system, and IRNSS indian regional navigation satellite system being constructed, and all other systems that use satellites for positioning and navigation that may appear in the future.
In the actual measurement operation, if a certain point on the ground needs to be measured, the GNSS receiver is connected to the centering rod, the centering rod is placed at the point on the ground, and the centering rod is adjusted by utilizing a liquid bubble attached to the centering rod, so that the centering rod is kept vertical, and the phase center of the GNSS receiver antenna is ensured to be positioned right above the point to be measured. After the three-dimensional coordinates of the position are calculated, the coordinates are used for subtracting the height of the centering rod and the height of an antenna of the GNSS receiver, and the coordinates are the coordinates of the point to be measured.
In the operation process, the centering rod needs to be continuously adjusted according to the vacuole, so that the centering rod is perpendicular to the horizontal plane, and the GNSS receiver antenna is located right above the point to be measured. This process usually takes several seconds or more to measure each point, and in some special weather conditions (e.g., high winds), the centering process is difficult to achieve. The centering process takes a certain amount of time in the measurement process of each point, and if the centering process can be simplified by a certain method, the measurement efficiency can be greatly improved.
The reason why the centering is needed is that after the centering, the antenna phase center of the GNSS receiver is located right above the point to be measured, and the measurement result of the GNSS receiver can be conveniently converted into the coordinate of the point to be measured. If the centering is not performed or the centering error is large, in the absence of other auxiliary tools and means, the measurement result of the GNSS receiver can bring extra errors in the horizontal direction and the vertical direction when being converted into the coordinate of the point to be measured.
At present, almost all the measurements performed by the GNSS receiver real-time dynamic measurement system are performed according to the above-mentioned conventional method, that is, in the case of centering, the height of the centering rod and the height of the antenna of the GNSS receiver are subtracted from the measurement result as the measurement result of the point to be measured. The above conventional method has two disadvantages: one is that it takes time to constantly adjust the vacuole during the measurement. Normally, the GNSS receiver is used to perform the point measurement, the time spent on the measurement is about 5 seconds, and the time for adjusting the vacuole needs several seconds or even ten seconds, that is, each point measurement takes more than fifty percent of the time for performing the vacuole adjustment, which causes a huge waste of time. A second disadvantage is that the position of the vacuole is difficult to maintain and the horizontal state accuracy of the GNSS receiver described above is difficult to guarantee. Since the adjustment of the vacuole is performed manually by an operator, it is difficult for the operator to keep the position of the vacuole at the center while performing the measurement operation, and it is difficult to avoid an additional measurement error caused by the shaking of the receiver during the measurement.
If this process can be simplified by some method, a lot of time can be saved for the measurement work, and the measurement efficiency is improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the GNSS receiver-based position coordinate real-time dynamic combination measuring device and the GNSS receiver-based position coordinate real-time dynamic combination measuring method which can automatically correct and correct the measuring result, have simple and practical structure, higher measuring efficiency and precision, smaller error, stable and reliable working performance and wider application range.
In order to achieve the above object, the present invention provides a GNSS receiver-based position coordinate real-time dynamic combination measuring apparatus and method, comprising:
the device for real-time dynamic combination measurement of the position coordinates based on the global navigation satellite system comprises a receiver of the global navigation satellite system and a centering rod, wherein the receiver is fixedly arranged on the centering rod.
The attitude angle sensing and measuring module in the position coordinate real-time dynamic combined measuring device based on the global navigation satellite system is arranged on the centering rod or arranged inside the GNSS receiver.
The attitude angle sensing and measuring module in the real-time dynamic position coordinate combination measuring device based on the global navigation satellite system is an attitude angle sensor which can measure a course angle, a pitch angle and a roll angle at the same time or a combination of a plurality of sensors which can indirectly obtain the course angle, the pitch angle and the roll angle in a phase-changing manner or a certain measuring method, such as the following steps: the system comprises an electronic bubble, an electronic compass, a gyroscope and an attitude measurement system consisting of a plurality of GNSS antennae, wherein the sensors or the combination of the sensors can measure a course angle, a pitch angle and a roll angle in real time, wherein the course angle is a rotation angle of a motion carrier around a vertical axis; the pitch angle is a rotation angle of the motion carrier around a side axis; the roll angle is the rotation angle of the motion carrier around the axis of the body.
The attitude angle sensing and measuring module in the device for real-time dynamic combined measurement of the position coordinates based on the global navigation satellite system is in wired communication connection or wireless communication connection with the GNSS receiver.
The receiver in the device for real-time dynamic combined measurement of the position coordinates based on the global navigation satellite system is a single-frequency global navigation satellite system receiver, a double-frequency global navigation satellite system receiver or a receiver with three-frequency global navigation satellite system receivers or even more frequency receiving functions which are about to appear in the future.
The method for realizing the real-time dynamic combination measurement of the position coordinates based on the global navigation satellite system by utilizing the device is mainly characterized by comprising the following steps:
(1) arranging the centering rod at the point to be measured;
(2) the GNSS receiver obtains position observation data by using a global navigation satellite system;
(3) the GNSS receiver utilizes the data information of the global navigation satellite system to carry out resolving processing and obtains a three-dimensional coordinate (x) of the antenna phase centerant，yant，hant)；
(4) The course angle, the pitch angle and the roll angle of the GNSS receiver are obtained through the measurement of the attitude angle sensing measurement module, and the measured information of the course angle, the pitch angle and the roll angle is transmitted to the GNSS receiver;
(5) the GNSS receiver obtains course angle, pitch angle and roll angle information according to the attitude angle sensing and measuring module, and the three-dimensional coordinate (x) of the antenna phase center is obtainedant，yant，hant) Real-time correction is carried out, and the three-dimensional position coordinates (x) of the point to be measured are obtainedo，yo，ho)。
The three-dimensional coordinate (x) of the antenna phase center in the method for realizing the real-time dynamic combination measurement of the position coordinate based on the global navigation satellite systemant，yant，hant) Performing real-time correction processing, comprising the steps of:
(11) the GNSS receiver is used for receiving the GNSS signals according to the course angle psi, the pitch angle theta and the roll angle
The information is converted by the following formula to obtain the azimuth angle alpha and the inclination angle beta of the centering rod:
the upper formula middle inclination angle beta is an included angle between the centering rod and a horizontal plane where the point to be measured is located, and the azimuth angle alpha is an included angle between the projection of the centering rod on the horizontal plane where the point to be measured is located and the Y axis of a local horizontal coordinate system with the point to be measured O as an origin;
(12) obtaining three-dimensional coordinate correction amounts delta x, delta y and delta h of the point to be measured according to the following formulas:
wherein h isdThe sum of the height of the centering rod and the height of the antenna of the GNSS receiver;
(13) obtaining the position three-dimensional coordinate (x) of the point to be measured according to the following formulao，yo，ho)：
By adopting the device and the method for the real-time dynamic combined measurement of the position coordinate based on the GNSS receiver, the attitude angle sensor can carry out real-time measurement and transmit the measurement result to the GNSS receiver in real time, so that the GNSS receiver can carry out real-time correction, the process of adjusting the vacuole in the traditional measurement mode is omitted, the operation time can be greatly shortened in the actual operation, and the operation efficiency is improved; meanwhile, the conversion error from the GNSS receiver to the point to be measured is reduced, so that the measurement precision of the measurement point is improved, the structure is simple and practical, the working performance is stable and reliable, and the application range is wide.
Drawings
FIG. 1 is a schematic diagram of a GNSS receiver-based device for real-time dynamic combined measurement of position coordinates.
FIG. 2 is a schematic diagram of the measurement relationship of the method for implementing the real-time dynamic combination measurement of position coordinates based on the global navigation satellite system according to the present invention.
Detailed Description
In order to clearly understand the technical contents of the present invention, the following examples are given in detail.
Referring to fig. 1, the real-time dynamic position coordinate combination measuring device based on the global navigation satellite system includes a receiver 11 of the global navigation satellite system and a centering rod 13, wherein the receiver 11 is fixedly disposed on the centering rod 13, an attitude angle sensing measuring module 12 is further disposed in the device, and the inclination angle sensing measuring module 12 and the receiver 11 are in communication connection with each other.
Wherein, the attitude angle sensing and measuring module 12 is arranged on the centering rod 13 or is arranged in the receiver 11; the attitude angle sensing and measuring module 12 is an attitude angle sensor having the function of measuring the course angle, the pitch angle and the roll angle at the same time, or a combination of a plurality of sensors capable of realizing the phase-change indirect measurement of the course angle, the pitch angle and the roll angle, or a corresponding certain measuring method, such as: the system comprises an electronic bubble, an electronic compass, a gyroscope and an attitude measurement system consisting of a plurality of GNSS antennae, wherein all sensors or the combination of the sensors can measure a course angle, a pitch angle and a roll angle in real time.
The attitude angle sensing and measuring module 12 is in wired communication connection or wireless communication connection with the receiver 11;
meanwhile, the receiver 11 is fixedly arranged on the centering rod 13; the receiver 11 is a global navigation satellite system receiver or a dual-band global navigation satellite system receiver, and a multi-frequency receiver.
In practical use, the device for real-time dynamic combined measurement of position coordinates based on the global navigation satellite system of the invention comprises a GNSS receiver 11, an attitude angle sensor 12 and a centering rod 13. The tilt sensor 12 may be mounted on the centering rod 13 as shown in fig. 1, may be built into the GNSS receiver 11, and may be capable of communicating with the GNSS receiver 11.
Referring to fig. 2, the method for implementing the combined real-time and dynamic measurement of the position coordinates based on the gnss using the above-mentioned apparatus includes the following steps:
(1) arranging the centering rod at the point to be measured;
(2) the GNSS receiver obtains observation data by using a global navigation satellite system;
(3) the receiver is advantageousUsing the data information sent by the global navigation satellite system to carry out resolving processing and obtain the three-dimensional coordinate (x) of the antenna phase centerant，yant，hant)；
(4) The course angle, the pitch angle and the roll angle of the receiver are obtained through the measurement of the attitude angle sensing measurement module, and the information of the measured course angle, the pitch angle and the roll angle is transmitted to the receiver;
(5) the GNSS receiver obtains course angle, pitch angle and roll angle information according to the attitude angle sensing and measuring module, and the three-dimensional coordinate (x) of the antenna phase center is obtainedant，yant，hant) Real-time correction is carried out, and the three-dimensional position coordinates (x) of the point to be measured are obtainedo，yo，ho) The method comprises the following steps:
(a) the receiver is based on the course angle psi, the pitch angle theta and the roll angle
The information is converted into the azimuth angle alpha and the inclination angle beta of the centering rod through the following formulas,
(b) obtaining three-dimensional coordinate correction amounts delta x, delta y and delta h of the point to be measured according to the following formulas:
wherein h isdThe sum of the height of the centering rod and the height of the antenna of the GNSS receiver;
(c) obtaining the position three-dimensional coordinate (x) of the point to be measured according to the following formulao，yo，ho)：
In practical use, the basic process of the measurement method combining the attitude angle sensor module and the GNSS real-time dynamic system of the present invention is as follows:
(1) obtaining observation data by using the GNSS receiver;
(2) the GNSS receiver is used for resolving the received GNSS information data;
(3) measuring by using the attitude angle sensor to obtain a course angle, a pitch angle and a roll angle of the GNSS receiver, and transmitting measurement information to the GNSS receiver;
(4) and the GNSS receiver corrects the calculation result in real time by using the information of the attitude angle sensor, and the correction result is used as the coordinate of the point to be measured.
As shown in fig. 2, O is a point to be measured, O 'is a phase center of the GNSS receiver antenna, and the centering rod is located on OO' in actual operation; xLYLZLIs a local horizontal coordinate system with a point O to be measured as an origin, X'LY′LZ′LA local horizontal coordinate system, X, with the antenna phase center O' of the GNSS receiver as the originBYBZBAnd the carrier coordinate system is established by taking the GNSS receiver as a carrier.
Defining the vector principal base line vector as O' YB(ii) a The course angle psi is the included angle between the projection of the carrier main base line vector on the local horizontal plane and the Y axis of the local horizontal coordinate system, namely < Y in fig. 2B′O′YL'; the pitch angle theta is the included angle between the rotation of the vector of the main vector of the carrier around the side vector of the carrier and the local horizontal plane, namely < Y > in fig. 2BO′YB'; roll angle
For vector rotation along the main base line of the carrier, the carrier coordinate system XBIntersection line of axis and local horizontal plane and carrier coordinate system XBAngle of (c), i.e. X in fig. 2BO′XB′。
As can be seen from fig. 2, to convert the coordinate of the antenna phase center O 'of the GNSS receiver to the coordinate of the point to be measured O, only the length of OO', the angle α, and the angle β need to be known. The length of OO' is the sum of the length of the centering rod and the height of the antenna of the GNSS receiver, and is a known quantity; the α, β angles are unknown and need to be measured.
If the angle alpha and angle beta are directly measured by the sensor, the compensation quantity can be conveniently obtained. However, in many cases, it is inconvenient to measure the angles α and β directly, and it is relatively easy to measure the heading angle, roll angle and pitch angle of the GNSS receiver. After the course angle, the roll angle and the pitch angle are measured, the course angle, the roll angle and the pitch angle are converted into alpha and beta angles, and therefore the antenna phase center coordinate of the GNSS receiver can be converted into the coordinate of the point to be measured.
Referring to fig. 2, the origin of the local horizontal coordinate system (LLS) and the carrier coordinate system (BFS) are the same and are located at the phase center of the receiver antenna, and the transformation parameters between them are actually three euler angles (heading angle ψ, pitch angle θ, roll angle θ)
) And the relation between the LLS coordinate and the BFS coordinate is as follows:
wherein, the rotation matrixes around the Y axis, the X axis and the Z axis respectively are as follows:
the local horizontal coordinate system can be determined according to psi, theta,
The resulting transformation matrix is the following by sequential rotation:
due to the three-dimensional attitude angles psi, theta,
Has been measured by a tilt sensor, so that the matrix R is transformedB LAre known. The azimuth angle alpha and the inclination angle beta of the centering rod are only matched with Z of the carrier coordinate systemBThe coordinates of the axes in the local horizontal coordinate system are related, so only Z needs to be obtainedBThe azimuth angle alpha and the inclination angle beta of the centering rod can be calculated by the coordinate of the unit vector of the axis in the local horizontal coordinate system. ZBThe coordinate of the unit vector of the axis is [0, 0, 1 ]]And then:
then:
the measuring method of the invention is as follows:
the first step is to obtain observation data using a GNSS receiver. It should be understood that the GNSS receiver includes not only various single-frequency, dual-frequency GNSS receivers and multi-frequency receivers currently on the market, but also various forms of GNSS receivers that may be present.
Tilt sensor and GNSS receiverThe second step of the real-time dynamic combination measurement method is that the GNSS receiver utilizes the data information of the GNSS satellite to carry out resolving to obtain the coordinate x of the antenna phase center of the GNSS receiverant、yant、hant。
And obtaining a course angle, a pitch angle and a roll angle of the GNSS receiver by using the attitude angle sensor, and transmitting information to the GNSS receiver. It should be appreciated that the attitude angle sensor may be built into the GNSS receiver or may be placed on the centering rod. The attitude angle sensor can be a plurality of inclination angle sensors which are independently arranged, and also can be a device which has the function of measuring a course angle, a pitch angle and a roll angle at the same time, and other methods which can realize the measurement of the course angle, the roll angle and the pitch angle, such as: the system comprises an electronic bubble, an electronic compass, a gyroscope and an attitude measurement system consisting of a plurality of GNSS antennae, wherein all sensors or the combination of the sensors can measure a course angle, a pitch angle and a roll angle in real time. The attitude angle sensor sends the measurement information to the GNSS receiver through a short-distance communication mode, wherein the short-distance communication mode comprises a wired communication mode or a wireless communication mode and the like.
In practical operation, the measurement of the heading angle, the pitch angle and the roll angle of the receiver can be realized by various methods, for example, several independent sensors can be additionally arranged on the GNSS receiver to realize the measurement of the three attitude angles, or a sensor capable of simultaneously measuring the direction angle, the pitch angle and the roll angle can be directly arranged, so that even the three measured angles can be converted into correction values for correction without any alignment. And then, converting the roll angle and the pitch angle measured by the attitude angle sensor into an alpha angle and a beta angle of the centering rod, so that the deviation between the phase center of the GNSS receiver and the point to be measured can be conveniently calculated by utilizing the alpha angle and the beta angle of the centering rod.
And the fourth step of the real-time dynamic combined measurement method of the inclination angle sensor and the GNSS receiver is that the GNSS receiver utilizes the information of the inclination angle sensor to carry out real-time correction on the calculation result. It should be understood that the GNSS receiver is solved forIs the coordinate x of the phase center of its antennaant、yant、hantAnd the point to be measured is the coordinate x of the contact point between the centering rod and the groundo、yo、ho。
In the traditional measurement mode before, the centering rod is adjusted by utilizing the vacuole to ensure that the GNSS receiver is positioned right above the point to be measured, so the measurement result of the GNSS receiver can be conveniently converted into the coordinate of the point to be measured, and the conversion relation is as follows:
wherein h isdIs the sum of the height of the centering rod and the height of the GNSS receiver antenna.
The method of the invention can not only omit the process of adjusting the vacuole which is necessary to be carried out by the traditional measuring mode, but also save a great deal of time; meanwhile, the measurement result of the GNSS receiver can be corrected to the coordinates of the point to be measured by using the measurement information of the attitude angle sensor, so that the precision of the measurement point is improved.
When the inclination angle of the centering rod is beta and the azimuth angle of the centering rod is alpha, the measured coordinates of the GNSS receiver can be converted into the coordinates of the point to be measured by using the following conversion relation:
wherein Δ x, Δ y, Δ h are correction amounts:
it should be understood that, by adopting the above-mentioned GNSS receiver-based real-time dynamic position coordinate combination measurement apparatus and method, the attitude angle sensor can perform real-time measurement, and transmit the measurement result to the GNSS receiver in real time, so that the GNSS receiver can perform real-time correction, and the process of adjusting the vacuole to keep the centering rod vertical in the traditional measurement mode is omitted, and the operation of the method is simpler and easier, so that the operation time can be greatly shortened in the actual operation, and the operation efficiency is improved; meanwhile, the conversion error from the GNSS receiver to the point to be measured is reduced, so that the measurement precision of the measurement point is improved, the structure is simple and practical, the working performance is stable and reliable, and the application range is wide.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (8)
1. The device is characterized in that an attitude angle sensing and measuring module is further arranged in the device, and the attitude angle sensing and measuring module is in communication connection with the receiver.
2. The gnss based position coordinate real-time dynamic combination measuring device of claim 1, wherein the attitude angle sensing measuring module is disposed on the centering rod or built inside the receiver.
3. The device according to claim 1, wherein the attitude angle sensing and measuring module is a sensor having a function of measuring a heading angle, a pitch angle and a roll angle at the same time, or a combination of a plurality of sensors capable of indirectly obtaining the heading angle, the pitch angle and the roll angle, or an attitude measuring system consisting of an electronic bubble, an electronic compass, a gyroscope and several GNSS antennas, wherein the heading angle is a rotation angle of the motion carrier around a vertical axis; the pitch angle is a rotation angle of the motion carrier around a side axis; the roll angle is the rotation angle of the motion carrier around the axis of the body.
4. The gnss based position coordinate real-time dynamic combination measuring device of claim 1, wherein the tilt angle sensing measuring module has a wired communication connection or a wireless communication connection with the receiver.
5. The gnss based position coordinate real-time dynamic combination measuring device of claim 1, wherein an attitude angle sensor is further provided in said device.
6. The GNSS-based position coordinate real-time dynamic combination measurement apparatus according to any of claims 1 to 5, wherein the receiver is a single-frequency GNSS receiver, a dual-frequency GNSS receiver, or a multi-frequency GNSS receiver.
7. A method for implementing a gnss based real-time dynamic combination measurement of position coordinates using the apparatus of claim 1, the method comprising the steps of:
(1) arranging the centering rod at the point to be measured;
(2) the global navigation satellite system receiver obtains observation data by using a global navigation satellite system, and calculates to obtain a three-dimensional coordinate (x) of the antenna phase centerant，yant，hant)；
(3) The attitude angle sensing and measuring module is used for measuring and obtaining a course angle, a pitch angle and a roll angle of the receiver, and transmitting the information of the course angle, the pitch angle and the roll angle which are obtained by measurement to the receiver;
(4) the receiver obtains course angle, pitch angle and roll angle information according to the transmission of the inclination angle sensing measurement module to carry out three-dimensional coordinate (x) of the antenna phase centerant，yant，hant) Real-time correction is carried out, and the three-dimensional position coordinates (x) of the point to be measured are obtainedo，yo，ho)。
8. The method of claim 7, wherein the three-dimensional coordinates (x) of the phase center of the antenna are measured dynamically in real timeant，yant，hant) Performing real-time correction processing, comprising the steps of:
(11) the receiver is based on the course angle psi, the pitch angle theta and the roll angle
The information is converted by the following formula to obtain the azimuth angle alpha and the inclination angle beta of the centering rod:
the upper formula middle inclination angle beta is an included angle between the centering rod and a horizontal plane where the point to be measured is located, and the azimuth angle alpha is an included angle between the projection of the centering rod on the horizontal plane where the point to be measured is located and the Y axis of a local horizontal coordinate system with the point to be measured O as an origin;
(12) obtaining three-dimensional coordinate correction amounts delta x, delta y and delta h of the point to be measured according to the following formulas:
wherein h isdThe height of the centering rod is the sum of the height of the antenna of the receiver;
(13) obtaining the position three-dimensional coordinate (x) of the point to be measured according to the following formulao，yo，ho)：
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